/*
 *    Copyright (c) 2014 Xiang Xu <xuxiang@mail.bnu.edu.cn>
 *
 *    Permission is hereby granted, free of charge, to any person
 *    obtaining a copy of this software and associated documentation
 *    files (the "Software"), to deal in the Software without
 *    restriction, including without limitation the rights to use,
 *    copy, modify, merge, publish, distribute, sublicense, and/or sell
 *    copies of the Software, and to permit persons to whom the
 *    Software is furnished to do so, subject to the following
 *    conditions:
 *
 *    The above copyright notice and this permission notice shall be
 *    included in all copies or substantial portions of the Software.
 *
 *    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
 *    EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
 *    OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
 *    NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
 *    HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
 *    WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
 *    FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
 *    OTHER DEALINGS IN THE SOFTWARE.
 */

#include "arguments.h"
#include "pclwraper.h"

#include <fstream>
#include <iostream>
#include <assert.h>

using namespace std;

int main(int argc, char** argv)
{
    Status status;

    // parse parameters
    boost::shared_ptr<Arguments> arguments = boost::shared_ptr<Arguments>(new Arguments);
    status = arguments->Parse(argc, argv);

    if(!status.IsOk())
    {
        cout << status;
        exit(-1);
    }
    else
    {
        cout << "Argments Parsed success.\n";
    }

    // fetch sample parameters
    std::vector<double> radius_outlier_parameters = arguments->GetRadiusOutlierParameters();
    std::vector<double> statistical_outlier_parameters = arguments->GetStatisticalOutlierParameters();

    if(radius_outlier_parameters.size() == 0 && statistical_outlier_parameters.size() == 0)
    {
        cout << "Outlier parameters not set! Please set \"radius_outlier_remover\"  or \
    \"statistic_outlier_remover\" option in configure.json file.\n";

        exit(-1);
    }

    // declation of input/output clouds
    pcl::PointCloud<pcl::PointXYZ>::Ptr input(new pcl::PointCloud<pcl::PointXYZ>);
    pcl::PointCloud<pcl::PointXYZ>::Ptr output(new pcl::PointCloud<pcl::PointXYZ>);

    PclWraper::LoadPCD(arguments->GetFacadeFile(), input);

    int original_size =  input->points.size();
    std::cout << "\noriginal size: " << original_size << std::endl;

    if(radius_outlier_parameters.size() != 0)
    {
        PclWraper::RadiusOutlier(input, output, radius_outlier_parameters[0], radius_outlier_parameters[1]);
    }
    else
    {
        assert(statistical_outlier_parameters.size() != 0);
        PclWraper::StatiscalOutlier(input, output, statistical_outlier_parameters[0],
                                    statistical_outlier_parameters[1], true);
    }

    int filtered_size = output->points.size();
    cout << "\nFiltered size: " << filtered_size << endl;
    cout << "\nReduced ratio: " << static_cast<double>(original_size - filtered_size) / static_cast<double>(original_size) <<
         endl;

    // save
    PclWraper::SavePCD(arguments->GetFacadeFile(), output);

    return 0;
}
